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852 lines
32 KiB
C++
852 lines
32 KiB
C++
/**************************************************************************/
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/* nav_mesh_generator_2d.cpp */
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/**************************************************************************/
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/* This file is part of: */
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/* GODOT ENGINE */
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/* https://godotengine.org */
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/**************************************************************************/
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/* Copyright (c) 2014-present Godot Engine contributors (see AUTHORS.md). */
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/* Copyright (c) 2007-2014 Juan Linietsky, Ariel Manzur. */
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/* */
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/* Permission is hereby granted, free of charge, to any person obtaining */
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/* a copy of this software and associated documentation files (the */
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/* "Software"), to deal in the Software without restriction, including */
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/* without limitation the rights to use, copy, modify, merge, publish, */
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/* distribute, sublicense, and/or sell copies of the Software, and to */
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/* permit persons to whom the Software is furnished to do so, subject to */
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/* the following conditions: */
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/* */
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/* The above copyright notice and this permission notice shall be */
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/* included in all copies or substantial portions of the Software. */
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/* */
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/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */
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/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */
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/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. */
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/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */
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/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */
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/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */
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/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
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/**************************************************************************/
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#include "nav_mesh_generator_2d.h"
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#include "core/config/project_settings.h"
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#include "scene/2d/mesh_instance_2d.h"
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#include "scene/2d/multimesh_instance_2d.h"
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#include "scene/2d/physics_body_2d.h"
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#include "scene/2d/polygon_2d.h"
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#include "scene/2d/tile_map.h"
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#include "scene/resources/capsule_shape_2d.h"
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#include "scene/resources/circle_shape_2d.h"
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#include "scene/resources/concave_polygon_shape_2d.h"
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#include "scene/resources/convex_polygon_shape_2d.h"
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#include "scene/resources/navigation_mesh_source_geometry_data_2d.h"
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#include "scene/resources/navigation_polygon.h"
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#include "scene/resources/rectangle_shape_2d.h"
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#include "thirdparty/clipper2/include/clipper2/clipper.h"
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#include "thirdparty/misc/polypartition.h"
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NavMeshGenerator2D *NavMeshGenerator2D::singleton = nullptr;
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Mutex NavMeshGenerator2D::baking_navmesh_mutex;
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Mutex NavMeshGenerator2D::generator_task_mutex;
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bool NavMeshGenerator2D::use_threads = true;
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bool NavMeshGenerator2D::baking_use_multiple_threads = true;
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bool NavMeshGenerator2D::baking_use_high_priority_threads = true;
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HashSet<Ref<NavigationPolygon>> NavMeshGenerator2D::baking_navmeshes;
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HashMap<WorkerThreadPool::TaskID, NavMeshGenerator2D::NavMeshGeneratorTask2D *> NavMeshGenerator2D::generator_tasks;
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NavMeshGenerator2D *NavMeshGenerator2D::get_singleton() {
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return singleton;
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}
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NavMeshGenerator2D::NavMeshGenerator2D() {
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ERR_FAIL_COND(singleton != nullptr);
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singleton = this;
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baking_use_multiple_threads = GLOBAL_GET("navigation/baking/thread_model/baking_use_multiple_threads");
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baking_use_high_priority_threads = GLOBAL_GET("navigation/baking/thread_model/baking_use_high_priority_threads");
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// Using threads might cause problems on certain exports or with the Editor on certain devices.
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// This is the main switch to turn threaded navmesh baking off should the need arise.
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use_threads = baking_use_multiple_threads && !Engine::get_singleton()->is_editor_hint();
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}
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NavMeshGenerator2D::~NavMeshGenerator2D() {
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cleanup();
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}
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void NavMeshGenerator2D::sync() {
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if (generator_tasks.size() == 0) {
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return;
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}
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baking_navmesh_mutex.lock();
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generator_task_mutex.lock();
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LocalVector<WorkerThreadPool::TaskID> finished_task_ids;
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for (KeyValue<WorkerThreadPool::TaskID, NavMeshGeneratorTask2D *> &E : generator_tasks) {
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if (WorkerThreadPool::get_singleton()->is_task_completed(E.key)) {
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WorkerThreadPool::get_singleton()->wait_for_task_completion(E.key);
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finished_task_ids.push_back(E.key);
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NavMeshGeneratorTask2D *generator_task = E.value;
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DEV_ASSERT(generator_task->status == NavMeshGeneratorTask2D::TaskStatus::BAKING_FINISHED);
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baking_navmeshes.erase(generator_task->navigation_mesh);
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if (generator_task->callback.is_valid()) {
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generator_emit_callback(generator_task->callback);
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}
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memdelete(generator_task);
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}
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}
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for (WorkerThreadPool::TaskID finished_task_id : finished_task_ids) {
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generator_tasks.erase(finished_task_id);
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}
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generator_task_mutex.unlock();
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baking_navmesh_mutex.unlock();
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}
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void NavMeshGenerator2D::cleanup() {
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baking_navmesh_mutex.lock();
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generator_task_mutex.lock();
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baking_navmeshes.clear();
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for (KeyValue<WorkerThreadPool::TaskID, NavMeshGeneratorTask2D *> &E : generator_tasks) {
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WorkerThreadPool::get_singleton()->wait_for_task_completion(E.key);
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NavMeshGeneratorTask2D *generator_task = E.value;
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memdelete(generator_task);
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}
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generator_tasks.clear();
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generator_task_mutex.unlock();
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baking_navmesh_mutex.unlock();
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}
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void NavMeshGenerator2D::finish() {
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cleanup();
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}
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void NavMeshGenerator2D::parse_source_geometry_data(Ref<NavigationPolygon> p_navigation_mesh, Ref<NavigationMeshSourceGeometryData2D> p_source_geometry_data, Node *p_root_node, const Callable &p_callback) {
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ERR_FAIL_COND(!Thread::is_main_thread());
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ERR_FAIL_COND(!p_navigation_mesh.is_valid());
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ERR_FAIL_NULL(p_root_node);
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ERR_FAIL_COND(!p_root_node->is_inside_tree());
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ERR_FAIL_COND(!p_source_geometry_data.is_valid());
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generator_parse_source_geometry_data(p_navigation_mesh, p_source_geometry_data, p_root_node);
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if (p_callback.is_valid()) {
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generator_emit_callback(p_callback);
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}
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}
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void NavMeshGenerator2D::bake_from_source_geometry_data(Ref<NavigationPolygon> p_navigation_mesh, Ref<NavigationMeshSourceGeometryData2D> p_source_geometry_data, const Callable &p_callback) {
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ERR_FAIL_COND(!p_navigation_mesh.is_valid());
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ERR_FAIL_COND(!p_source_geometry_data.is_valid());
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if (p_navigation_mesh->get_outline_count() == 0 && !p_source_geometry_data->has_data()) {
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p_navigation_mesh->clear();
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if (p_callback.is_valid()) {
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generator_emit_callback(p_callback);
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}
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return;
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}
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baking_navmesh_mutex.lock();
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if (baking_navmeshes.has(p_navigation_mesh)) {
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baking_navmesh_mutex.unlock();
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ERR_FAIL_MSG("NavigationPolygon is already baking. Wait for current bake to finish.");
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}
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baking_navmeshes.insert(p_navigation_mesh);
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baking_navmesh_mutex.unlock();
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generator_bake_from_source_geometry_data(p_navigation_mesh, p_source_geometry_data);
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baking_navmesh_mutex.lock();
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baking_navmeshes.erase(p_navigation_mesh);
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baking_navmesh_mutex.unlock();
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if (p_callback.is_valid()) {
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generator_emit_callback(p_callback);
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}
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}
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void NavMeshGenerator2D::bake_from_source_geometry_data_async(Ref<NavigationPolygon> p_navigation_mesh, Ref<NavigationMeshSourceGeometryData2D> p_source_geometry_data, const Callable &p_callback) {
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ERR_FAIL_COND(!p_navigation_mesh.is_valid());
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ERR_FAIL_COND(!p_source_geometry_data.is_valid());
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if (p_navigation_mesh->get_outline_count() == 0 && !p_source_geometry_data->has_data()) {
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p_navigation_mesh->clear();
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if (p_callback.is_valid()) {
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generator_emit_callback(p_callback);
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}
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return;
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}
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if (!use_threads) {
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bake_from_source_geometry_data(p_navigation_mesh, p_source_geometry_data, p_callback);
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return;
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}
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baking_navmesh_mutex.lock();
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if (baking_navmeshes.has(p_navigation_mesh)) {
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baking_navmesh_mutex.unlock();
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ERR_FAIL_MSG("NavigationPolygon is already baking. Wait for current bake to finish.");
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}
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baking_navmeshes.insert(p_navigation_mesh);
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baking_navmesh_mutex.unlock();
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generator_task_mutex.lock();
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NavMeshGeneratorTask2D *generator_task = memnew(NavMeshGeneratorTask2D);
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generator_task->navigation_mesh = p_navigation_mesh;
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generator_task->source_geometry_data = p_source_geometry_data;
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generator_task->callback = p_callback;
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generator_task->status = NavMeshGeneratorTask2D::TaskStatus::BAKING_STARTED;
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generator_task->thread_task_id = WorkerThreadPool::get_singleton()->add_native_task(&NavMeshGenerator2D::generator_thread_bake, generator_task, NavMeshGenerator2D::baking_use_high_priority_threads, "NavMeshGeneratorBake2D");
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generator_tasks.insert(generator_task->thread_task_id, generator_task);
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generator_task_mutex.unlock();
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}
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void NavMeshGenerator2D::generator_thread_bake(void *p_arg) {
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NavMeshGeneratorTask2D *generator_task = static_cast<NavMeshGeneratorTask2D *>(p_arg);
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generator_bake_from_source_geometry_data(generator_task->navigation_mesh, generator_task->source_geometry_data);
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generator_task->status = NavMeshGeneratorTask2D::TaskStatus::BAKING_FINISHED;
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}
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void NavMeshGenerator2D::generator_parse_geometry_node(Ref<NavigationPolygon> p_navigation_mesh, Ref<NavigationMeshSourceGeometryData2D> p_source_geometry_data, Node *p_node, bool p_recurse_children) {
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generator_parse_meshinstance2d_node(p_navigation_mesh, p_source_geometry_data, p_node);
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generator_parse_multimeshinstance2d_node(p_navigation_mesh, p_source_geometry_data, p_node);
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generator_parse_polygon2d_node(p_navigation_mesh, p_source_geometry_data, p_node);
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generator_parse_staticbody2d_node(p_navigation_mesh, p_source_geometry_data, p_node);
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generator_parse_tilemap_node(p_navigation_mesh, p_source_geometry_data, p_node);
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if (p_recurse_children) {
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for (int i = 0; i < p_node->get_child_count(); i++) {
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generator_parse_geometry_node(p_navigation_mesh, p_source_geometry_data, p_node->get_child(i), p_recurse_children);
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}
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}
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}
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void NavMeshGenerator2D::generator_parse_meshinstance2d_node(const Ref<NavigationPolygon> &p_navigation_mesh, Ref<NavigationMeshSourceGeometryData2D> p_source_geometry_data, Node *p_node) {
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MeshInstance2D *mesh_instance = Object::cast_to<MeshInstance2D>(p_node);
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if (mesh_instance == nullptr) {
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return;
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}
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NavigationPolygon::ParsedGeometryType parsed_geometry_type = p_navigation_mesh->get_parsed_geometry_type();
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if (!(parsed_geometry_type == NavigationPolygon::PARSED_GEOMETRY_MESH_INSTANCES || parsed_geometry_type == NavigationPolygon::PARSED_GEOMETRY_BOTH)) {
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return;
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}
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Ref<Mesh> mesh = mesh_instance->get_mesh();
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if (!mesh.is_valid()) {
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return;
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}
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const Transform2D mesh_instance_xform = p_source_geometry_data->root_node_transform * mesh_instance->get_global_transform();
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using namespace Clipper2Lib;
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Paths64 subject_paths, dummy_clip_paths;
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for (int i = 0; i < mesh->get_surface_count(); i++) {
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if (mesh->surface_get_primitive_type(i) != Mesh::PRIMITIVE_TRIANGLES) {
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continue;
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}
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if (!(mesh->surface_get_format(i) & Mesh::ARRAY_FLAG_USE_2D_VERTICES)) {
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continue;
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}
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Path64 subject_path;
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int index_count = 0;
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if (mesh->surface_get_format(i) & Mesh::ARRAY_FORMAT_INDEX) {
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index_count = mesh->surface_get_array_index_len(i);
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} else {
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index_count = mesh->surface_get_array_len(i);
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}
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ERR_CONTINUE((index_count == 0 || (index_count % 3) != 0));
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Array a = mesh->surface_get_arrays(i);
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Vector<Vector2> mesh_vertices = a[Mesh::ARRAY_VERTEX];
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if (mesh->surface_get_format(i) & Mesh::ARRAY_FORMAT_INDEX) {
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Vector<int> mesh_indices = a[Mesh::ARRAY_INDEX];
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for (int vertex_index : mesh_indices) {
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const Vector2 &vertex = mesh_vertices[vertex_index];
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const Point64 &point = Point64(vertex.x, vertex.y);
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subject_path.push_back(point);
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}
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} else {
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for (const Vector2 &vertex : mesh_vertices) {
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const Point64 &point = Point64(vertex.x, vertex.y);
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subject_path.push_back(point);
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}
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}
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subject_paths.push_back(subject_path);
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}
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Paths64 path_solution;
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path_solution = Union(subject_paths, dummy_clip_paths, FillRule::NonZero);
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//path_solution = RamerDouglasPeucker(path_solution, 0.025);
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Vector<Vector<Vector2>> polypaths;
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for (const Path64 &scaled_path : path_solution) {
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Vector<Vector2> shape_outline;
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for (const Point64 &scaled_point : scaled_path) {
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shape_outline.push_back(Point2(static_cast<real_t>(scaled_point.x), static_cast<real_t>(scaled_point.y)));
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}
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for (int i = 0; i < shape_outline.size(); i++) {
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shape_outline.write[i] = mesh_instance_xform.xform(shape_outline[i]);
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}
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p_source_geometry_data->add_obstruction_outline(shape_outline);
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}
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}
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void NavMeshGenerator2D::generator_parse_multimeshinstance2d_node(const Ref<NavigationPolygon> &p_navigation_mesh, Ref<NavigationMeshSourceGeometryData2D> p_source_geometry_data, Node *p_node) {
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MultiMeshInstance2D *multimesh_instance = Object::cast_to<MultiMeshInstance2D>(p_node);
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if (multimesh_instance == nullptr) {
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return;
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}
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NavigationPolygon::ParsedGeometryType parsed_geometry_type = p_navigation_mesh->get_parsed_geometry_type();
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if (!(parsed_geometry_type == NavigationPolygon::PARSED_GEOMETRY_MESH_INSTANCES || parsed_geometry_type == NavigationPolygon::PARSED_GEOMETRY_BOTH)) {
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return;
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}
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Ref<MultiMesh> multimesh = multimesh_instance->get_multimesh();
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if (!(multimesh.is_valid() && multimesh->get_transform_format() == MultiMesh::TRANSFORM_2D)) {
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return;
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}
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Ref<Mesh> mesh = multimesh->get_mesh();
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if (!mesh.is_valid()) {
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return;
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}
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using namespace Clipper2Lib;
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Paths64 mesh_subject_paths, dummy_clip_paths;
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for (int i = 0; i < mesh->get_surface_count(); i++) {
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if (mesh->surface_get_primitive_type(i) != Mesh::PRIMITIVE_TRIANGLES) {
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continue;
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}
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if (!(mesh->surface_get_format(i) & Mesh::ARRAY_FLAG_USE_2D_VERTICES)) {
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continue;
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}
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Path64 subject_path;
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int index_count = 0;
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if (mesh->surface_get_format(i) & Mesh::ARRAY_FORMAT_INDEX) {
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index_count = mesh->surface_get_array_index_len(i);
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} else {
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index_count = mesh->surface_get_array_len(i);
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}
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ERR_CONTINUE((index_count == 0 || (index_count % 3) != 0));
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Array a = mesh->surface_get_arrays(i);
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Vector<Vector2> mesh_vertices = a[Mesh::ARRAY_VERTEX];
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if (mesh->surface_get_format(i) & Mesh::ARRAY_FORMAT_INDEX) {
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Vector<int> mesh_indices = a[Mesh::ARRAY_INDEX];
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for (int vertex_index : mesh_indices) {
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const Vector2 &vertex = mesh_vertices[vertex_index];
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const Point64 &point = Point64(vertex.x, vertex.y);
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subject_path.push_back(point);
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}
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} else {
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for (const Vector2 &vertex : mesh_vertices) {
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const Point64 &point = Point64(vertex.x, vertex.y);
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subject_path.push_back(point);
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}
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}
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mesh_subject_paths.push_back(subject_path);
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}
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Paths64 mesh_path_solution = Union(mesh_subject_paths, dummy_clip_paths, FillRule::NonZero);
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//path_solution = RamerDouglasPeucker(path_solution, 0.025);
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int multimesh_instance_count = multimesh->get_visible_instance_count();
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if (multimesh_instance_count == -1) {
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multimesh_instance_count = multimesh->get_instance_count();
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}
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const Transform2D multimesh_instance_xform = p_source_geometry_data->root_node_transform * multimesh_instance->get_global_transform();
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for (int i = 0; i < multimesh_instance_count; i++) {
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const Transform2D multimesh_instance_mesh_instance_xform = multimesh_instance_xform * multimesh->get_instance_transform_2d(i);
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for (const Path64 &mesh_path : mesh_path_solution) {
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Vector<Vector2> shape_outline;
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for (const Point64 &mesh_path_point : mesh_path) {
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shape_outline.push_back(Point2(static_cast<real_t>(mesh_path_point.x), static_cast<real_t>(mesh_path_point.y)));
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}
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for (int j = 0; j < shape_outline.size(); j++) {
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shape_outline.write[j] = multimesh_instance_mesh_instance_xform.xform(shape_outline[j]);
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}
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p_source_geometry_data->add_obstruction_outline(shape_outline);
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}
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}
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}
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void NavMeshGenerator2D::generator_parse_polygon2d_node(const Ref<NavigationPolygon> &p_navigation_mesh, Ref<NavigationMeshSourceGeometryData2D> p_source_geometry_data, Node *p_node) {
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Polygon2D *polygon_2d = Object::cast_to<Polygon2D>(p_node);
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if (polygon_2d == nullptr) {
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return;
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}
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NavigationPolygon::ParsedGeometryType parsed_geometry_type = p_navigation_mesh->get_parsed_geometry_type();
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if (parsed_geometry_type == NavigationPolygon::PARSED_GEOMETRY_MESH_INSTANCES || parsed_geometry_type == NavigationPolygon::PARSED_GEOMETRY_BOTH) {
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const Transform2D polygon_2d_xform = p_source_geometry_data->root_node_transform * polygon_2d->get_global_transform();
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Vector<Vector2> shape_outline = polygon_2d->get_polygon();
|
|
for (int i = 0; i < shape_outline.size(); i++) {
|
|
shape_outline.write[i] = polygon_2d_xform.xform(shape_outline[i]);
|
|
}
|
|
|
|
p_source_geometry_data->add_obstruction_outline(shape_outline);
|
|
}
|
|
}
|
|
|
|
void NavMeshGenerator2D::generator_parse_staticbody2d_node(const Ref<NavigationPolygon> &p_navigation_mesh, Ref<NavigationMeshSourceGeometryData2D> p_source_geometry_data, Node *p_node) {
|
|
StaticBody2D *static_body = Object::cast_to<StaticBody2D>(p_node);
|
|
|
|
if (static_body == nullptr) {
|
|
return;
|
|
}
|
|
|
|
NavigationPolygon::ParsedGeometryType parsed_geometry_type = p_navigation_mesh->get_parsed_geometry_type();
|
|
if (!(parsed_geometry_type == NavigationPolygon::PARSED_GEOMETRY_STATIC_COLLIDERS || parsed_geometry_type == NavigationPolygon::PARSED_GEOMETRY_BOTH)) {
|
|
return;
|
|
}
|
|
|
|
uint32_t parsed_collision_mask = p_navigation_mesh->get_parsed_collision_mask();
|
|
if (!(static_body->get_collision_layer() & parsed_collision_mask)) {
|
|
return;
|
|
}
|
|
|
|
List<uint32_t> shape_owners;
|
|
static_body->get_shape_owners(&shape_owners);
|
|
|
|
for (uint32_t shape_owner : shape_owners) {
|
|
if (static_body->is_shape_owner_disabled(shape_owner)) {
|
|
continue;
|
|
}
|
|
|
|
const int shape_count = static_body->shape_owner_get_shape_count(shape_owner);
|
|
|
|
for (int shape_index = 0; shape_index < shape_count; shape_index++) {
|
|
Ref<Shape2D> s = static_body->shape_owner_get_shape(shape_owner, shape_index);
|
|
|
|
if (s.is_null()) {
|
|
continue;
|
|
}
|
|
|
|
const Transform2D static_body_xform = p_source_geometry_data->root_node_transform * static_body->get_global_transform() * static_body->shape_owner_get_transform(shape_owner);
|
|
|
|
RectangleShape2D *rectangle_shape = Object::cast_to<RectangleShape2D>(*s);
|
|
if (rectangle_shape) {
|
|
Vector<Vector2> shape_outline;
|
|
|
|
const Vector2 &rectangle_size = rectangle_shape->get_size();
|
|
|
|
shape_outline.resize(5);
|
|
shape_outline.write[0] = static_body_xform.xform(-rectangle_size * 0.5);
|
|
shape_outline.write[1] = static_body_xform.xform(Vector2(rectangle_size.x, -rectangle_size.y) * 0.5);
|
|
shape_outline.write[2] = static_body_xform.xform(rectangle_size * 0.5);
|
|
shape_outline.write[3] = static_body_xform.xform(Vector2(-rectangle_size.x, rectangle_size.y) * 0.5);
|
|
shape_outline.write[4] = static_body_xform.xform(-rectangle_size * 0.5);
|
|
|
|
p_source_geometry_data->add_obstruction_outline(shape_outline);
|
|
}
|
|
|
|
CapsuleShape2D *capsule_shape = Object::cast_to<CapsuleShape2D>(*s);
|
|
if (capsule_shape) {
|
|
const real_t capsule_height = capsule_shape->get_height();
|
|
const real_t capsule_radius = capsule_shape->get_radius();
|
|
|
|
Vector<Vector2> shape_outline;
|
|
const real_t turn_step = Math_TAU / 12.0;
|
|
shape_outline.resize(14);
|
|
int shape_outline_inx = 0;
|
|
for (int i = 0; i < 12; i++) {
|
|
Vector2 ofs = Vector2(0, (i > 3 && i <= 9) ? -capsule_height * 0.5 + capsule_radius : capsule_height * 0.5 - capsule_radius);
|
|
|
|
shape_outline.write[shape_outline_inx] = static_body_xform.xform(Vector2(Math::sin(i * turn_step), Math::cos(i * turn_step)) * capsule_radius + ofs);
|
|
shape_outline_inx += 1;
|
|
if (i == 3 || i == 9) {
|
|
shape_outline.write[shape_outline_inx] = static_body_xform.xform(Vector2(Math::sin(i * turn_step), Math::cos(i * turn_step)) * capsule_radius - ofs);
|
|
shape_outline_inx += 1;
|
|
}
|
|
}
|
|
|
|
p_source_geometry_data->add_obstruction_outline(shape_outline);
|
|
}
|
|
|
|
CircleShape2D *circle_shape = Object::cast_to<CircleShape2D>(*s);
|
|
if (circle_shape) {
|
|
const real_t circle_radius = circle_shape->get_radius();
|
|
|
|
Vector<Vector2> shape_outline;
|
|
int circle_edge_count = 12;
|
|
shape_outline.resize(circle_edge_count);
|
|
|
|
const real_t turn_step = Math_TAU / real_t(circle_edge_count);
|
|
for (int i = 0; i < circle_edge_count; i++) {
|
|
shape_outline.write[i] = static_body_xform.xform(Vector2(Math::cos(i * turn_step), Math::sin(i * turn_step)) * circle_radius);
|
|
}
|
|
|
|
p_source_geometry_data->add_obstruction_outline(shape_outline);
|
|
}
|
|
|
|
ConcavePolygonShape2D *concave_polygon_shape = Object::cast_to<ConcavePolygonShape2D>(*s);
|
|
if (concave_polygon_shape) {
|
|
Vector<Vector2> shape_outline = concave_polygon_shape->get_segments();
|
|
|
|
for (int i = 0; i < shape_outline.size(); i++) {
|
|
shape_outline.write[i] = static_body_xform.xform(shape_outline[i]);
|
|
}
|
|
|
|
p_source_geometry_data->add_obstruction_outline(shape_outline);
|
|
}
|
|
|
|
ConvexPolygonShape2D *convex_polygon_shape = Object::cast_to<ConvexPolygonShape2D>(*s);
|
|
if (convex_polygon_shape) {
|
|
Vector<Vector2> shape_outline = convex_polygon_shape->get_points();
|
|
|
|
for (int i = 0; i < shape_outline.size(); i++) {
|
|
shape_outline.write[i] = static_body_xform.xform(shape_outline[i]);
|
|
}
|
|
|
|
p_source_geometry_data->add_obstruction_outline(shape_outline);
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
void NavMeshGenerator2D::generator_parse_tilemap_node(const Ref<NavigationPolygon> &p_navigation_mesh, Ref<NavigationMeshSourceGeometryData2D> p_source_geometry_data, Node *p_node) {
|
|
TileMap *tilemap = Object::cast_to<TileMap>(p_node);
|
|
|
|
if (tilemap == nullptr) {
|
|
return;
|
|
}
|
|
|
|
NavigationPolygon::ParsedGeometryType parsed_geometry_type = p_navigation_mesh->get_parsed_geometry_type();
|
|
uint32_t parsed_collision_mask = p_navigation_mesh->get_parsed_collision_mask();
|
|
|
|
if (tilemap->get_layers_count() <= 0) {
|
|
return;
|
|
}
|
|
|
|
int tilemap_layer = 0; // only main tile map layer is supported
|
|
|
|
Ref<TileSet> tile_set = tilemap->get_tileset();
|
|
if (!tile_set.is_valid()) {
|
|
return;
|
|
}
|
|
|
|
int physics_layers_count = tile_set->get_physics_layers_count();
|
|
int navigation_layers_count = tile_set->get_navigation_layers_count();
|
|
|
|
if (physics_layers_count <= 0 && navigation_layers_count <= 0) {
|
|
return;
|
|
}
|
|
|
|
const Transform2D tilemap_xform = p_source_geometry_data->root_node_transform * tilemap->get_global_transform();
|
|
TypedArray<Vector2i> used_cells = tilemap->get_used_cells(tilemap_layer);
|
|
|
|
for (int used_cell_index = 0; used_cell_index < used_cells.size(); used_cell_index++) {
|
|
const Vector2i &cell = used_cells[used_cell_index];
|
|
|
|
const TileData *tile_data = tilemap->get_cell_tile_data(tilemap_layer, cell, false);
|
|
if (tile_data == nullptr) {
|
|
continue;
|
|
}
|
|
|
|
Transform2D tile_transform;
|
|
tile_transform.set_origin(tilemap->map_to_local(cell));
|
|
|
|
const Transform2D tile_transform_offset = tilemap_xform * tile_transform;
|
|
|
|
if (navigation_layers_count > 0) {
|
|
Ref<NavigationPolygon> navigation_polygon = tile_data->get_navigation_polygon(tilemap_layer);
|
|
if (navigation_polygon.is_valid()) {
|
|
for (int outline_index = 0; outline_index < navigation_polygon->get_outline_count(); outline_index++) {
|
|
const Vector<Vector2> &navigation_polygon_outline = navigation_polygon->get_outline(outline_index);
|
|
if (navigation_polygon_outline.size() == 0) {
|
|
continue;
|
|
}
|
|
|
|
Vector<Vector2> traversable_outline;
|
|
traversable_outline.resize(navigation_polygon_outline.size());
|
|
|
|
const Vector2 *navigation_polygon_outline_ptr = navigation_polygon_outline.ptr();
|
|
Vector2 *traversable_outline_ptrw = traversable_outline.ptrw();
|
|
|
|
for (int traversable_outline_index = 0; traversable_outline_index < traversable_outline.size(); traversable_outline_index++) {
|
|
traversable_outline_ptrw[traversable_outline_index] = tile_transform_offset.xform(navigation_polygon_outline_ptr[traversable_outline_index]);
|
|
}
|
|
|
|
p_source_geometry_data->_add_traversable_outline(traversable_outline);
|
|
}
|
|
}
|
|
}
|
|
|
|
if (physics_layers_count > 0 && (parsed_geometry_type == NavigationPolygon::PARSED_GEOMETRY_STATIC_COLLIDERS || parsed_geometry_type == NavigationPolygon::PARSED_GEOMETRY_BOTH) && (tile_set->get_physics_layer_collision_layer(tilemap_layer) & parsed_collision_mask)) {
|
|
for (int collision_polygon_index = 0; collision_polygon_index < tile_data->get_collision_polygons_count(tilemap_layer); collision_polygon_index++) {
|
|
const Vector<Vector2> &collision_polygon_points = tile_data->get_collision_polygon_points(tilemap_layer, collision_polygon_index);
|
|
if (collision_polygon_points.size() == 0) {
|
|
continue;
|
|
}
|
|
|
|
Vector<Vector2> obstruction_outline;
|
|
obstruction_outline.resize(collision_polygon_points.size());
|
|
|
|
const Vector2 *collision_polygon_points_ptr = collision_polygon_points.ptr();
|
|
Vector2 *obstruction_outline_ptrw = obstruction_outline.ptrw();
|
|
|
|
for (int obstruction_outline_index = 0; obstruction_outline_index < obstruction_outline.size(); obstruction_outline_index++) {
|
|
obstruction_outline_ptrw[obstruction_outline_index] = tile_transform_offset.xform(collision_polygon_points_ptr[obstruction_outline_index]);
|
|
}
|
|
|
|
p_source_geometry_data->_add_obstruction_outline(obstruction_outline);
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
void NavMeshGenerator2D::generator_parse_source_geometry_data(Ref<NavigationPolygon> p_navigation_mesh, Ref<NavigationMeshSourceGeometryData2D> p_source_geometry_data, Node *p_root_node) {
|
|
List<Node *> parse_nodes;
|
|
|
|
if (p_navigation_mesh->get_source_geometry_mode() == NavigationPolygon::SOURCE_GEOMETRY_ROOT_NODE_CHILDREN) {
|
|
parse_nodes.push_back(p_root_node);
|
|
} else {
|
|
p_root_node->get_tree()->get_nodes_in_group(p_navigation_mesh->get_source_geometry_group_name(), &parse_nodes);
|
|
}
|
|
|
|
Transform2D root_node_transform = Transform2D();
|
|
if (Object::cast_to<Node2D>(p_root_node)) {
|
|
root_node_transform = Object::cast_to<Node2D>(p_root_node)->get_global_transform().affine_inverse();
|
|
}
|
|
|
|
p_source_geometry_data->clear();
|
|
p_source_geometry_data->root_node_transform = root_node_transform;
|
|
|
|
bool recurse_children = p_navigation_mesh->get_source_geometry_mode() != NavigationPolygon::SOURCE_GEOMETRY_GROUPS_EXPLICIT;
|
|
|
|
for (Node *E : parse_nodes) {
|
|
generator_parse_geometry_node(p_navigation_mesh, p_source_geometry_data, E, recurse_children);
|
|
}
|
|
};
|
|
|
|
static void generator_recursive_process_polytree_items(List<TPPLPoly> &p_tppl_in_polygon, const Clipper2Lib::PolyPath64 *p_polypath_item) {
|
|
using namespace Clipper2Lib;
|
|
|
|
Vector<Vector2> polygon_vertices;
|
|
|
|
for (const Point64 &polypath_point : p_polypath_item->Polygon()) {
|
|
polygon_vertices.push_back(Vector2(static_cast<real_t>(polypath_point.x), static_cast<real_t>(polypath_point.y)));
|
|
}
|
|
|
|
TPPLPoly tp;
|
|
tp.Init(polygon_vertices.size());
|
|
for (int j = 0; j < polygon_vertices.size(); j++) {
|
|
tp[j] = polygon_vertices[j];
|
|
}
|
|
|
|
if (p_polypath_item->IsHole()) {
|
|
tp.SetOrientation(TPPL_ORIENTATION_CW);
|
|
tp.SetHole(true);
|
|
} else {
|
|
tp.SetOrientation(TPPL_ORIENTATION_CCW);
|
|
}
|
|
p_tppl_in_polygon.push_back(tp);
|
|
|
|
for (size_t i = 0; i < p_polypath_item->Count(); i++) {
|
|
const PolyPath64 *polypath_item = p_polypath_item->Child(i);
|
|
generator_recursive_process_polytree_items(p_tppl_in_polygon, polypath_item);
|
|
}
|
|
}
|
|
|
|
bool NavMeshGenerator2D::generator_emit_callback(const Callable &p_callback) {
|
|
ERR_FAIL_COND_V(!p_callback.is_valid(), false);
|
|
|
|
Callable::CallError ce;
|
|
Variant result;
|
|
p_callback.callp(nullptr, 0, result, ce);
|
|
|
|
return ce.error == Callable::CallError::CALL_OK;
|
|
}
|
|
|
|
void NavMeshGenerator2D::generator_bake_from_source_geometry_data(Ref<NavigationPolygon> p_navigation_mesh, Ref<NavigationMeshSourceGeometryData2D> p_source_geometry_data) {
|
|
if (p_navigation_mesh.is_null() || p_source_geometry_data.is_null()) {
|
|
return;
|
|
}
|
|
|
|
if (p_navigation_mesh->get_outline_count() == 0 && !p_source_geometry_data->has_data()) {
|
|
return;
|
|
}
|
|
|
|
int outline_count = p_navigation_mesh->get_outline_count();
|
|
const Vector<Vector<Vector2>> &traversable_outlines = p_source_geometry_data->_get_traversable_outlines();
|
|
const Vector<Vector<Vector2>> &obstruction_outlines = p_source_geometry_data->_get_obstruction_outlines();
|
|
|
|
if (outline_count == 0 && traversable_outlines.size() == 0) {
|
|
return;
|
|
}
|
|
|
|
using namespace Clipper2Lib;
|
|
|
|
Paths64 traversable_polygon_paths;
|
|
Paths64 obstruction_polygon_paths;
|
|
|
|
for (int i = 0; i < outline_count; i++) {
|
|
const Vector<Vector2> &traversable_outline = p_navigation_mesh->get_outline(i);
|
|
Path64 subject_path;
|
|
for (const Vector2 &traversable_point : traversable_outline) {
|
|
const Point64 &point = Point64(traversable_point.x, traversable_point.y);
|
|
subject_path.push_back(point);
|
|
}
|
|
traversable_polygon_paths.push_back(subject_path);
|
|
}
|
|
|
|
for (const Vector<Vector2> &traversable_outline : traversable_outlines) {
|
|
Path64 subject_path;
|
|
for (const Vector2 &traversable_point : traversable_outline) {
|
|
const Point64 &point = Point64(traversable_point.x, traversable_point.y);
|
|
subject_path.push_back(point);
|
|
}
|
|
traversable_polygon_paths.push_back(subject_path);
|
|
}
|
|
|
|
for (const Vector<Vector2> &obstruction_outline : obstruction_outlines) {
|
|
Path64 clip_path;
|
|
for (const Vector2 &obstruction_point : obstruction_outline) {
|
|
const Point64 &point = Point64(obstruction_point.x, obstruction_point.y);
|
|
clip_path.push_back(point);
|
|
}
|
|
obstruction_polygon_paths.push_back(clip_path);
|
|
}
|
|
|
|
Paths64 path_solution;
|
|
|
|
// first merge all traversable polygons according to user specified fill rule
|
|
Paths64 dummy_clip_path;
|
|
traversable_polygon_paths = Union(traversable_polygon_paths, dummy_clip_path, FillRule::NonZero);
|
|
// merge all obstruction polygons, don't allow holes for what is considered "solid" 2D geometry
|
|
obstruction_polygon_paths = Union(obstruction_polygon_paths, dummy_clip_path, FillRule::NonZero);
|
|
|
|
path_solution = Difference(traversable_polygon_paths, obstruction_polygon_paths, FillRule::NonZero);
|
|
|
|
real_t agent_radius_offset = p_navigation_mesh->get_agent_radius();
|
|
if (agent_radius_offset > 0.0) {
|
|
path_solution = InflatePaths(path_solution, -agent_radius_offset, JoinType::Miter, EndType::Polygon);
|
|
}
|
|
//path_solution = RamerDouglasPeucker(path_solution, 0.025); //
|
|
|
|
Vector<Vector<Vector2>> new_baked_outlines;
|
|
|
|
for (const Path64 &scaled_path : path_solution) {
|
|
Vector<Vector2> polypath;
|
|
for (const Point64 &scaled_point : scaled_path) {
|
|
polypath.push_back(Vector2(static_cast<real_t>(scaled_point.x), static_cast<real_t>(scaled_point.y)));
|
|
}
|
|
new_baked_outlines.push_back(polypath);
|
|
}
|
|
|
|
if (new_baked_outlines.size() == 0) {
|
|
p_navigation_mesh->set_vertices(Vector<Vector2>());
|
|
p_navigation_mesh->clear_polygons();
|
|
return;
|
|
}
|
|
|
|
Paths64 polygon_paths;
|
|
|
|
for (const Vector<Vector2> &baked_outline : new_baked_outlines) {
|
|
Path64 polygon_path;
|
|
for (const Vector2 &baked_outline_point : baked_outline) {
|
|
const Point64 &point = Point64(baked_outline_point.x, baked_outline_point.y);
|
|
polygon_path.push_back(point);
|
|
}
|
|
polygon_paths.push_back(polygon_path);
|
|
}
|
|
|
|
ClipType clipper_cliptype = ClipType::Union;
|
|
|
|
List<TPPLPoly> tppl_in_polygon, tppl_out_polygon;
|
|
|
|
PolyTree64 polytree;
|
|
Clipper64 clipper_64;
|
|
|
|
clipper_64.AddSubject(polygon_paths);
|
|
clipper_64.Execute(clipper_cliptype, FillRule::NonZero, polytree);
|
|
|
|
for (size_t i = 0; i < polytree.Count(); i++) {
|
|
const PolyPath64 *polypath_item = polytree[i];
|
|
generator_recursive_process_polytree_items(tppl_in_polygon, polypath_item);
|
|
}
|
|
|
|
TPPLPartition tpart;
|
|
if (tpart.ConvexPartition_HM(&tppl_in_polygon, &tppl_out_polygon) == 0) { //failed!
|
|
ERR_PRINT("NavigationPolygon Convex partition failed. Unable to create a valid NavigationMesh from defined polygon outline paths.");
|
|
p_navigation_mesh->set_vertices(Vector<Vector2>());
|
|
p_navigation_mesh->clear_polygons();
|
|
return;
|
|
}
|
|
|
|
Vector<Vector2> new_vertices;
|
|
Vector<Vector<int>> new_polygons;
|
|
|
|
HashMap<Vector2, int> points;
|
|
for (List<TPPLPoly>::Element *I = tppl_out_polygon.front(); I; I = I->next()) {
|
|
TPPLPoly &tp = I->get();
|
|
|
|
Vector<int> new_polygon;
|
|
|
|
for (int64_t i = 0; i < tp.GetNumPoints(); i++) {
|
|
HashMap<Vector2, int>::Iterator E = points.find(tp[i]);
|
|
if (!E) {
|
|
E = points.insert(tp[i], new_vertices.size());
|
|
new_vertices.push_back(tp[i]);
|
|
}
|
|
new_polygon.push_back(E->value);
|
|
}
|
|
|
|
new_polygons.push_back(new_polygon);
|
|
}
|
|
|
|
p_navigation_mesh->set_vertices(new_vertices);
|
|
p_navigation_mesh->clear_polygons();
|
|
for (int i = 0; i < new_polygons.size(); i++) {
|
|
p_navigation_mesh->add_polygon(new_polygons[i]);
|
|
}
|
|
}
|